import os
import termios
import fcntl
import threading
import time
from ctypes import c_uint8, c_uint16, c_uint32

# 全局配置
bufferSize = 256
mtx = threading.Lock()
buffer_shared = bytearray(bufferSize)
receive_finished = False

# CRC校验表
wCRC_Table = [
    0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
    0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
    0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
    0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
    0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
    0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
    0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
    0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
    0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
    0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
    0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
    0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
    0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
    0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
    0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
    0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
    0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
    0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
    0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
    0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
    0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
    0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
    0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
    0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
    0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
    0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
    0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
    0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
    0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
    0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
    0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
    0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
]

# 协议相关定义
MYPACK_FRAMEHEADER_SOF1 = 0xA5
MYPACK_FRAMEHEADER_SOF2 = 0xA6

class RXBuffer:
    def __init__(self):
        self.length = 0
        self.buffer = bytearray(bufferSize)
        self.all_data = bytearray(bufferSize + 5)
        self.CRC_data = 0
        self.CRC_success = False
        self.bag_count = 0

class Unpacker:
    def __init__(self):
        self.PackRX_Status = 0  # MyPack_Frame_SOF
        self.SOF_count = 0
        self.DataLenth_count = 0
        self.CRC16_count = 0
        self.RX_Buffer = RXBuffer()

def Get_CRC16_Check_Sum(data, crc_init):
    crc = crc_init
    for byte in data:
        crc = (crc >> 8) ^ wCRC_Table[(crc ^ byte) & 0xFF]
    return crc

def Verify_CRC16_Check_Sum(pchMessage, dwLength):
    if dwLength <= 2:
        return False
    wExpected = Get_CRC16_Check_Sum(pchMessage[:dwLength-2], 0xFFFF)
    return (wExpected & 0xFF == pchMessage[dwLength-2] and 
            (wExpected >> 8) & 0xFF == pchMessage[dwLength-1])

def Append_CRC16_Check_Sum(message):
    crc = Get_CRC16_Check_Sum(message[:-2], 0xFFFF)
    message[-2] = crc & 0xFF
    message[-1] = (crc >> 8) & 0xFF

def configure_serial_port(fd, baud_rate, data_bits, stop_bits, parity):
    tty = termios.tcgetattr(fd)
    
    # 波特率
    tty[4] = termios.B115200
    tty[5] = termios.B115200
    
    # 数据位
    tty[2] &= ~termios.CSIZE
    if data_bits == 8:
        tty[2] |= termios.CS8
    
    # 停止位
    if stop_bits == 1:
        tty[2] &= ~termios.CSTOPB
    elif stop_bits == 2:
        tty[2] |= termios.CSTOPB
    
    # 校验位
    if parity == 'N':
        tty[2] &= ~termios.PARENB
    elif parity == 'E':
        tty[2] |= termios.PARENB
        tty[2] &= ~termios.PARODD
    elif parity == 'O':
        tty[2] |= termios.PARENB
        tty[2] |= termios.PARODD
    
    # 控制模式
    tty[2] |= termios.CLOCAL | termios.CREAD
    tty[2] &= ~termios.CRTSCTS
    
    # 输入模式
    tty[0] &= ~(termios.IGNBRK | termios.BRKINT | termios.PARMRK | 
                termios.ISTRIP | termios.INLCR | termios.IGNCR | 
                termios.ICRNL | termios.IXON)
    
    # 输出模式
    tty[1] &= ~termios.OPOST
    
    # 本地模式
    tty[3] &= ~(termios.ECHO | termios.ECHONL | termios.ICANON | 
                termios.ISIG | termios.IEXTEN)
    
    # 超时设置
    tty[6][termios.VMIN] = 0
    tty[6][termios.VTIME] = 0
    
    termios.tcsetattr(fd, termios.TCSANOW, tty)
    termios.tcflush(fd, termios.TCIFLUSH)
    termios.tcflush(fd, termios.TCOFLUSH)

def initserial():
    try:
        fd = os.open('/dev/serial0', os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
    except OSError as e:
        print(f"Unable to open serial device: {e}")
        return None
    configure_serial_port(fd, 115200, 8, 1, 'N')
    return fd

def Receive_Unpacked(rx_byte, unpacker):
    rx = unpacker.RX_Buffer
    if unpacker.PackRX_Status == 0:  # MyPack_Frame_SOF
        if rx_byte == MYPACK_FRAMEHEADER_SOF1 and unpacker.SOF_count == 0:
            rx.all_data[0] = rx_byte
            unpacker.SOF_count = 1
        elif rx_byte == MYPACK_FRAMEHEADER_SOF2 and unpacker.SOF_count == 1:
            rx.all_data[1] = rx_byte
            unpacker.SOF_count = 0
            rx.length = 0
            unpacker.PackRX_Status = 1  # MyPack_Frame_DataLength
        else:
            unpacker.SOF_count = 0
    elif unpacker.PackRX_Status == 1:  # MyPack_Frame_DataLength
        rx.length = rx_byte
        rx.all_data[2] = rx_byte
        unpacker.PackRX_Status = 2  # MyPack_Frame_DATA
        unpacker.DataLenth_count = 0
    elif unpacker.PackRX_Status == 2:  # MyPack_Frame_DATA
        rx.buffer[unpacker.DataLenth_count] = rx_byte
        rx.all_data[3 + unpacker.DataLenth_count] = rx_byte
        unpacker.DataLenth_count += 1
        if unpacker.DataLenth_count >= rx.length:
            unpacker.CRC16_count = 0
            unpacker.PackRX_Status = 3  # MyPack_Frame_CRC16
    elif unpacker.PackRX_Status == 3:  # MyPack_Frame_CRC16
        if unpacker.CRC16_count == 0:
            rx.CRC_data = rx_byte
            rx.all_data[3 + rx.length] = rx_byte
            unpacker.CRC16_count = 1
        elif unpacker.CRC16_count == 1:
            rx.all_data[4 + rx.length] = rx_byte
            rx.CRC_data |= rx_byte << 8
            unpacker.PackRX_Status = 0  # MyPack_Frame_SOF
            if Verify_CRC16_Check_Sum(rx.all_data, rx.length + 5):
                with mtx:
                    global receive_finished, buffer_shared
                    buffer_shared[:rx.length] = rx.buffer[:rx.length]
                    receive_finished = True
                    rx.bag_count += 1
                    print(f"Debug:count:{rx.bag_count}")

def receive_thread(fd):
    unpacker = Unpacker()
    while True:
        try:
            data = os.read(fd, 256)
            if data:
                for byte in data:
                    Receive_Unpacked(byte, unpacker)
        except BlockingIOError:
            pass
        time.sleep(0.01)

def send_serial_port(fd, message):
    message_size = len(message)
    message_send = bytearray([MYPACK_FRAMEHEADER_SOF1, MYPACK_FRAMEHEADER_SOF2, message_size])
    message_send.extend(message)
    message_send.extend(b'\x00\x00')  # Placeholder for CRC
    Append_CRC16_Check_Sum(message_send)
    os.write(fd, message_send)

def process_thread(fd):
    global receive_finished
    while True:
        with mtx:
            if receive_finished:
                receive_finished = False
                #print(f"ProcessThread: {bytes(buffer_shared[:RXBuffer().length])}")
                print(f"ProcessThread:{buffer_shared.decode('utf-8')}")  # 输出: "abc"
                message = b"STM32"
                send_serial_port(fd, message)
        time.sleep(0.05)

def main():
    fd = initserial()
    if not fd:
        return
    
    receiver = threading.Thread(target=receive_thread, args=(fd,))
    processor = threading.Thread(target=process_thread, args=(fd,))
    
    receiver.daemon = True
    processor.daemon = True
    
    receiver.start()
    processor.start()
    
    try:
        while True: time.sleep(1)
    except KeyboardInterrupt:
        os.close(fd)

if __name__ == '__main__':
    main()